BlueROV Heavy secondary development issues

I want to do secondary development on BlueROV Heavy, however, I don’t find any code like AP_HAL_PX* in the latest version of Ardupilot source code, can anyone tell me where the PX related code is and how to do secondary development?

Hi @suitangxiaoyi, welcome to the forum :slight_smile:

I’m not really sure what you’re referring to here.

AP_HAL is the general library, and Pixhawk type boards run ChibiOS, so use AP_HAL_ChibiOS to specialise, while our Navigator flight controller runs its firmware on its Raspberry Pi 4 host, which runs a Linux-based operating system, so uses AP_HAL_Linux to specialise.

How to do development depends on what you’re trying to develop. We’re planning to have detailed developer documentation for ArduSub at some point, but that doesn’t currently exist. In the meantime, you may be interested in the more general ArduPilot developers guide to get started :slight_smile:

Thanks for your help :grinning:

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